46 lines
1.6 KiB
C++
46 lines
1.6 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/common/ceres_solver_options.h"
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namespace cartographer {
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namespace common {
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proto::CeresSolverOptions CreateCeresSolverOptionsProto(
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common::LuaParameterDictionary* parameter_dictionary) {
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proto::CeresSolverOptions proto;
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proto.set_use_nonmonotonic_steps(
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parameter_dictionary->GetBool("use_nonmonotonic_steps"));
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proto.set_max_num_iterations(
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parameter_dictionary->GetNonNegativeInt("max_num_iterations"));
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proto.set_num_threads(parameter_dictionary->GetNonNegativeInt("num_threads"));
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CHECK_GT(proto.max_num_iterations(), 0);
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CHECK_GT(proto.num_threads(), 0);
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return proto;
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}
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ceres::Solver::Options CreateCeresSolverOptions(
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const proto::CeresSolverOptions& proto) {
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ceres::Solver::Options options;
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options.use_nonmonotonic_steps = proto.use_nonmonotonic_steps();
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options.max_num_iterations = proto.max_num_iterations();
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options.num_threads = proto.num_threads();
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return options;
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}
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} // namespace common
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} // namespace cartographer
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